RhinoArmJeff Caley

Friday, December 10, 2010

XR-3 Robotic ArmFriday, December 10, 2010

The System

Robot Arm

Controller

Computer

Friday, December 10, 2010

Robot Arm6 motors

5 AxesMotor "F" Body Rotation - 350 degrees Motor "E" Shoulder Rotation - 210 degrees Motor "D" Elbow Rotation - 265 degrees Motor "C" Wrist Rotation - 310 degrees Motor "B" Gripper Rotation - +/- 7

C - .0793 degrees

D - .1145 degrees

E - .1145 degrees

F - .1374 degrees

Friday, December 10, 2010

Goal

Talk to Robot

C#

Inverse Kinematics Problem

A* Search

Friday, December 10, 2010

Tree ExpandStart

Joint Positions A,B,C,DA OpenList = A

ClosedList = Null

Friday, December 10, 2010

Tree ExpandStart

Joint Positions A,B,C,D

Joint Positions A+1,B,C,D

Joint Positions A-1,B,C,D

Joint Positions A,B+1,C,D

Joint Positions A,B-1,C,D

Joint Positions A,B,C+1,D

Joint Positions A,B,C-1,D

Joint Positions A,B,C,D-1

Joint Positions A,B,C,D+1

A

B

CD

E

F

GH

I

OpenList = B,C,D,E,F,G,H,IClosedList = ACost

Estimated Cost to Goal

Friday, December 10, 2010

Straight Line Path

Heuristic

Goal

Estimated Distance

RobotCost

Friday, December 10, 2010

HeuristicNot Really A*

Estimated Distance(A) - Estimated Distance(A-Child)

Average

Goal

Estimated Distance

RobotCost

Friday, December 10, 2010

Robot ControlSerial Communication

ASCII commands

Optical Motor Control

“C1\r”C - .0793 degrees

D - .1145 degrees

E - .1145 degrees

F - .1374 degrees

Friday, December 10, 2010

Issues

Heuristic

Communicating via Serial Port

Unity to Serial

Robot HOME

Friday, December 10, 2010

Serial Communication

9-25 Pin Adapter

25-25 Pin Null Modem Cable

Friday, December 10, 2010

Unity to Serial

Unity can’t talk to Serial

Export to XML

Input and Run in Separate Program

Friday, December 10, 2010

Robot HOME

Microswitches

Register shift

“I\r” returns #

Friday, December 10, 2010

DemoFriday, December 10, 2010

The End Questions?

Friday, December 10, 2010